From 651a0182a743dc9885bba20279ca85999845c020 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 14 Jan 2015 12:49:39 +0900
Subject: [PATCH] Copter: move land_detector to separate file

---
 ArduCopter/control_land.pde  | 41 ----------------------------------
 ArduCopter/land_detector.pde | 43 ++++++++++++++++++++++++++++++++++++
 2 files changed, 43 insertions(+), 41 deletions(-)
 create mode 100644 ArduCopter/land_detector.pde

diff --git a/ArduCopter/control_land.pde b/ArduCopter/control_land.pde
index 9547cc707a..c1c64efd2b 100644
--- a/ArduCopter/control_land.pde
+++ b/ArduCopter/control_land.pde
@@ -1,7 +1,5 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
-// counter to verify landings
-static uint16_t land_detector = LAND_DETECTOR_TRIGGER;  // we assume we are landed
 static bool land_with_gps;
 
 static uint32_t land_start_time;
@@ -192,45 +190,6 @@ static float get_throttle_land()
     }
 }
 
-// land_complete_maybe - return true if we may have landed (used to reset loiter targets during landing)
-static bool land_complete_maybe()
-{
-    return (ap.land_complete || ap.land_complete_maybe);
-}
-
-// update_land_detector - checks if we have landed and updates the ap.land_complete flag
-// called at 50hz
-static void update_land_detector()
-{
-    bool climb_rate_small = abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX;
-    bool target_climb_rate_low = !pos_control.is_active_z() || pos_control.get_desired_velocity().z < LAND_SPEED;
-    bool motor_at_lower_limit = motors.limit.throttle_lower;
-    bool throttle_low = FRAME_CONFIG == HELI_FRAME || motors.get_throttle_out() < get_non_takeoff_throttle();
-    bool not_rotating_fast = ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX;
-    
-    if (climb_rate_small && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
-        if (!ap.land_complete) {
-            // increase counter until we hit the trigger then set land complete flag
-            if( land_detector < LAND_DETECTOR_TRIGGER) {
-                land_detector++;
-            }else{
-                set_land_complete(true);
-                land_detector = LAND_DETECTOR_TRIGGER;
-            }
-        }
-    } else {
-        // we've sensed movement up or down so reset land_detector
-        land_detector = 0;
-        // if throttle output is high then clear landing flag
-        if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
-            set_land_complete(false);
-        }
-    }
-
-    // set land maybe flag
-    set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
-}
-
 // land_do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch
 //  called during GPS failsafe to ensure that if we were already in LAND mode that we do not use the GPS
 //  has no effect if we are not already in LAND mode
diff --git a/ArduCopter/land_detector.pde b/ArduCopter/land_detector.pde
new file mode 100644
index 0000000000..8ac512d78d
--- /dev/null
+++ b/ArduCopter/land_detector.pde
@@ -0,0 +1,43 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+// counter to verify landings
+static uint16_t land_detector = LAND_DETECTOR_TRIGGER;  // we assume we are landed
+
+// land_complete_maybe - return true if we may have landed (used to reset loiter targets during landing)
+static bool land_complete_maybe()
+{
+    return (ap.land_complete || ap.land_complete_maybe);
+}
+
+// update_land_detector - checks if we have landed and updates the ap.land_complete flag
+// called at 50hz
+static void update_land_detector()
+{
+    bool climb_rate_small = abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX;
+    bool target_climb_rate_low = !pos_control.is_active_z() || pos_control.get_desired_velocity().z < LAND_SPEED;
+    bool motor_at_lower_limit = motors.limit.throttle_lower;
+    bool throttle_low = FRAME_CONFIG == HELI_FRAME || motors.get_throttle_out() < get_non_takeoff_throttle();
+    bool not_rotating_fast = ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX;
+
+    if (climb_rate_small && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
+        if (!ap.land_complete) {
+            // increase counter until we hit the trigger then set land complete flag
+            if( land_detector < LAND_DETECTOR_TRIGGER) {
+                land_detector++;
+            }else{
+                set_land_complete(true);
+                land_detector = LAND_DETECTOR_TRIGGER;
+            }
+        }
+    } else {
+        // we've sensed movement up or down so reset land_detector
+        land_detector = 0;
+        // if throttle output is high then clear landing flag
+        if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
+            set_land_complete(false);
+        }
+    }
+
+    // set land maybe flag
+    set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
+}